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An ACO-based online routing method for multiple order pickers with congestion consideration in warehouse

Journal of intelligent Manufacturing 2016年第2期27卷 389-408页

作者： Chen, Fangyu Wang, Hongwei Xie, Yong Qi, Chao Key Laboratory of Image Processing and Intelligent Control of Education Ministry Institute of Systems Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China

One of the challenging problems in order picking is how to deal with the congestion happens in warehouse with multiple pickers. In this paper, we consider an ant colony optimization (ACO)-based online routing method to find picking routes for multiple order pickers under nondeterministic picking time. Here, a default route is formed by ACO for each single picker. Then, we coordinate these routes to alleviate congestion by dedicated rules based on indoor positioning and information sharing technologies, during order pickers serve the picking task. Our results indicate that the proposed method can achieve a reduction in the order service time primarily by coping with the congestion. We conclude that the new method is particularly effective in multiple-block picker-to-parts warehouses. © 2014, Springer Science+Business Media New York.

关键词： Ant colony optimization Congestion Multiple order pickers Routing method Warehouse management

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Extended state observer based non-iteration predicted entry guidance

Extended state observer based non-iteration predicted entry ...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Chang, Songtao Su, Mao Zhang, Da Wang, Yongji Department of Control Science and Engineering Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780956715715

It is difficult to guide the entry vehicle to prescribed area due to the disperse of environment and kinematics. Through predicted residual range at the current state based on drag acceleration, we developed a predictor-corrector guidance law which doesn't need iteration to figure out the reference trajectory. Then using extended state observer based controller to track the reference trajectory. We use several missions(under various disperse conditions) to test the guidance law. Simulation results demonstrated that the guidance law is able to achieve the prescribed terminal conditions under various perturbations in the aerodynamic coefficients, the density of the atmosphere and the mass of the vehicle. © 2012 Huazhong Univ of Sci & Tec.

关键词： Disturbance rejection

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Active disturbance rejection guidance for ascent using quadratic transition

Active disturbance rejection guidance for ascent using quadr...

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2012 International Symposium on Computer, Consumer and control, IS3C 2012

作者： Lu, Xuefang Wang, Yongji Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546551

This paper presents an active disturbance rejection guidance method using quadratic transition for the atmospheric ascent guidance problem. The quadratic transition is designed from the current flight states with a reference trajectory planned off-board. For any states error, the solution of the designed quadratic transition converges to the reference trajectory. The guidance command is obtained from the derivative of the designed quadratic transition. For the unknown modeling error, the guidance command is compensated using the estimated disturbances from the extended state observer. Computer simulation for GHV (Generic Hypersonic Air Vehicle) model, which includes initial states error and modeling error, shows great accuracy and effectiveness of this guidance method. © 2012 IEEE.

关键词： Errors

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CLUSTERING VIA DIMENSIONAL REDUCTION METHOD FOR THE PROJECTION PURSUIT BASED ON THE ICSA

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Journal of Electronics(China) 2010年第4期27卷 474-479页

作者： Gou Shuiping Feng Jing Jiao Licheng Key Laboratory of Intelligent Perception and Image Understanding for the Ministry of Education Institute of Intelligent Information Processing Xidian University Xi＇an 710071 China

The performance of the classical clustering algorithm is not always satisfied with the high-dimensional datasets, which make clustering method limited in many application. To solve this problem, clustering method with Projection Pursuit dimension reduction based on Immune Clonal Selection Algorithm (ICSA-PP) is proposed in this paper. Projection pursuit strategy can maintain consistent Euclidean distances between points in the low-dimensional embeddings where the ICSA is used to search optimizing projection direction. The proposed algorithm can converge quickly with less iteration to reduce dimension of some high-dimensional datasets, and in which space, K-mean clustering algorithm is used to partition the reduced data. The experiment results on UCI data show that the presented method can search quicker to optimize projection direction than Genetic Algorithm (GA) and it has better clustering results compared with traditional linear dimension reduction method for Principle Component Analysis (PCA).

关键词： Projection Pursuit (PP) Immune Clonal Selection Algorithm (ICSA) Genetic Algorithm (GA) K-means clustering

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Underwater Perception and Autonomous Operation for Underwater Vehicle-Manipulator Systems: Methodology and Experiment

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IEEE/ASME Transactions on Mechatronics 2025年

作者： Jiang, Chaicheng Xiong, Xinyang Xiang, Xianbo Zeng, Zhigang Zhang, Fumin Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering School of Artificial Intelligence and Automation State Key Lab of Intelligent Manufacturing Equipment and Technology Wuhan 430074 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control The Education Ministry of China Wuhan 430074 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Hong Kong Hong Kong

Camera-equipped underwater vehicle-manipulator systems (UVMS) can achieve autonomous underwater operations through visual servoing. However, current methods excessively rely on auxiliary means for target's visual information and do not sufficiently consider the target's pose when designing visual servoing schemes. As a result, UVMS can only perform dynamic positioning or grasp simple-shaped targets like sea urchins. In this article, we are devoted to making the UVMS autonomously complete more complex underwater operations, such as valve switching and pipe handling. First, an underwater target perception system is proposed to address the issue of discontinuous target position estimation caused by various interferences. Second, a deep neural network-based grasping mechanism controller is proposed to enable the manipulator to grasp targets in various initial poses using the target image. Third, a decoupled visual servoing scheme is proposed for the motion control of the UVMS, and in collaboration with a designed task supervisor to ensure that the UVMS can complete the underwater operation autonomously. To validate the effectiveness of the proposed methods, underwater experiments are conducted based on a UVMS prototype. The UVMS succeeds to autonomously switch different types of valves and handle the pipe. Experiments conducted under dynamic currents validated the reliability and robustness of the proposed methods. © 1996-2012 IEEE.

关键词： Autonomous underwater operations deep neural network underwater vehicle-manipulator systems (UVMS) visual perception visual servoing

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Redundancy reduction penalty term of loss function in deep neural network

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Knowledge-Based Systems 2025年

作者： Xueheng Hu Shuhuan Wen H.K. Lam Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan University Qinhuangdao China Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Intelligent Control and Neural Information Processing Ministry of Education Yanshan University Qinhuangdao 066004 Hebei Province China The Department of Engineering King’s College London London WC2R 2LS United Kingdom

In this paper, we propose a novel regularization algorithm that is introduced as a penalty term to the loss function. Differing from conventional L1 and L2 regularization methods, our approach does not aim to diminish the weights of individual neurons or enforce sparsity by driving certain neurons to zero. Instead, it functions by increasing the differences between neurons and enhancing the diversity of neurons within each layer. Our method incorporates ensemble learning techniques by treating the layer weight matrix as a collective learning model, where each neuron serving as a weak learner within the layer. The proposed algorithm improves the performance of DCNN by simultaneously considering the distance between multiple filters in the same layer. This algorithm reduces the redundancy of the parameter layer filters in DCNN and enhances its robustness. The penalty term proposed by our algorithm dynamically adjusts its value in a cyclical manner, compelling the neural network to navigate away from its current gradient state. In the parameter space, different weights correspond to different locations. The proposed algorithm quantifies the distance between neurons and iteratively increases the distance between neurons during thereby encouraging greater diversity within the network. Experimental evaluations demonstrate the effectiveness of our algorithm in enhancing neural network performance without requiring adjustments to other hyper-parameters.

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Exponential stability of impulsive positive systems with mixed time-varying delays

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IET control Theory and Applications 2014年第15期8卷 1537-1542页

作者： Wang, Yan-Wu Zhang, Ji-Shi Liu, Meng School of Automation Huazhong University of Science and Technology Wuhan430074 China School of Software Henan University Kaifeng475004 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China China

This study addresses the problem of exponential stability for a class of impulsive positive systems with mixed time-varying delays. A delayed impulsive positive system model is introduced for the first time and a necessary and sufficient condition guaranteeing the positivity of this kind of system is proposed. By using a copositive Lyapunov-Krasovskii functional and the average impulsive interval method, a sufficient criterion of global exponential stability for delayed impulsive positive systems is established in terms of linear programming problems. A numerical example is given to show the effectiveness of the proposed method. © 2014 The Institution of Engineering and Technology.

关键词： Lyapunov functions

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Observer-based adaptive tracking control of rigid-link flexible-joint robot manipulators

Observer-based adaptive tracking control of rigid-link flexi...

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作者： Liu, Chao Xiang, Xianbo Poignet, Philippe France Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology China

ISBN: (纸本)9787894631046

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.

关键词： Asymptotic stability

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H∞ based decoupling tracking control of hypersonic vehicle 19

H∞ based decoupling tracking control of hypersonic vehicle

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Lan, Xuejing Wang, Zhishen Liu, Lei Wang, Yongji School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9783902823625

The H∞ based decoupling tracking control is studied in this paper. A virtual system constituted by the controlled system and the no coupling reference model is firstly set up. The controlled system is driven to follow the reference model to realize the decoupling. And the tracking error can be formulated by the H∞ norm of the virtual system. Then the controller is derived by minimizing the H∞ norm, which can be described by Linear Matrix Inequalities (LMIs). The necessary and sufficient condition of existence of controller is derived based on the LMIs above. A flight control example is given to illustrate the effectiveness of the proposed method. The simulation results show that the proposed method is of better control performance than Linear Quadratic (LQ) tracking controller. © IFAC.

关键词： controllers

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An optimal software maintenance policy based on reliability and risk

An optimal software maintenance policy based on reliability ...

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2014 International Joint Conference on Neural Networks, IJCNN 2014

作者： Xiaoping, Wang Fang, Zhou Yi, Shen School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781479914845

Software maintenance is assuming ever more a crucial role in the lifecycle of software due to the increase of software requirements and the high variability of software environment. Common approaches of studying software maintenance are to consider them as a static by-product of software operation and only the maintenance cost is covered. In this paper, software maintenance policies are studied with the consideration of software reliability and risk. An optimization model is defined to drive the choice of a maintenance schedule. The solution of the model provides the best maintenance policy and the choice of actual actions that will minimize the average maintenance cost while the software reliability and risk are acceptable. Finally, a numerical example is given to show the analysis process of our proposed policy. © 2014 IEEE.

关键词： Software reliability

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